gps subsystem: really need to define GPS_FIX_x in gps.h and convert all implementations to the same fix mask

airborne it would work, but GCS, etc. of course rely on 0->nofix 3->3d-fix in the messages

sw/airborne/subsystems/gps.h

@@ -37,6 +37,10 @@
 #include GPS_TYPE_H
 #endif
 
+#define GPS_FIX_NONE 0x00
+#define GPS_FIX_2D   0x02
+#define GPS_FIX_3D   0x03
+
 #define GpsFixValid() (gps.fix == GPS_FIX_3D)
 
 

sw/airborne/subsystems/gps/gps_mtk.c

@@ -158,7 +158,16 @@ void gps_mtk_read_message(void) {
       gps.speed_3d    = gps.gspeed;
       gps.course      = (RadOfDeg(MTK_DIY14_NAV_Heading(gps_mtk.msg_buf)))*10;
       gps.num_sv      = MTK_DIY14_NAV_numSV(gps_mtk.msg_buf);
-      gps.fix         = MTK_DIY14_NAV_GPSfix(gps_mtk.msg_buf);
+      switch (MTK_DIY14_NAV_GPSfix(gps_mtk.msg_buf)) {
+      case MTK_DIY_FIX_3D:
+        gps.fix = GPS_FIX_3D;
+        break;
+      case MTK_DIY_FIX_2D:
+        gps.fix = GPS_FIX_2D;
+        break;
+      default:
+        gps.fix = GPS_FIX_NONE;
+      }
       gps.tow         = MTK_DIY14_NAV_ITOW(gps_mtk.msg_buf);;
       // FIXME: with MTK DIY 1.4 you do not receive GPS week
       gps.week        = 0;

sw/airborne/subsystems/gps/gps_mtk.h

@@ -28,10 +28,6 @@
 /** Includes macros generated from mtk.xml */
 #include "mtk_protocol.h"
 
-#define GPS_FIX_NONE 0x01
-#define GPS_FIX_2D   0x02
-#define GPS_FIX_3D   0x03
-
 #define GPS_MTK_MAX_PAYLOAD 255
 
 struct GpsMtk {
@@ -109,6 +105,10 @@ extern bool_t gps_configuring;
 extern void gps_mtk_read_message(void);
 extern void gps_mtk_parse(uint8_t c);
 
+#define MTK_DIY_FIX_3D      3
+#define MTK_DIY_FIX_2D      2
+#define MTK_DIY_FIX_NONE    1
+
 /*
  * dynamic GPS configuration
  */

sw/airborne/subsystems/gps/gps_nmea.h

@@ -20,8 +20,8 @@
  *
  */
 
-/** @file gps_nmea.h
+/** \file gps_nmea.h
- *  NMEA protocol specific code
+ * \brief NMEA protocol specific code
  *
 */
 
@@ -33,10 +33,6 @@
 
 #define GPS_NB_CHANNELS 16
 
-#define GPS_FIX_NONE 0x00
-#define GPS_FIX_2D   0x02
-#define GPS_FIX_3D   0x03
-
 #ifdef DEBUG_NMEA
 #define NMEA_PRINT(...) {  UsbSPrintString( __VA_ARGS__);};
 #else

sw/airborne/subsystems/gps/gps_sim.h

@@ -3,10 +3,6 @@
 
 #include "std.h"
 
-#define GPS_FIX_NONE 0x00
-#define GPS_FIX_2D   0x02
-#define GPS_FIX_3D   0x03
-
 #define GPS_NB_CHANNELS 16
 
 extern bool_t gps_available;

sw/airborne/subsystems/gps/gps_sim_nps.h

@@ -3,10 +3,6 @@
 
 #include "nps_sensors.h"
 
-#define GPS_FIX_NONE 0x00
-#define GPS_FIX_2D   0x02
-#define GPS_FIX_3D   0x03
-
 #define GPS_NB_CHANNELS 16
 
 extern bool_t gps_available;

sw/airborne/subsystems/gps/gps_skytraq.c

@@ -20,6 +20,7 @@
  */
 
 #include "subsystems/gps.h"
+#include "led.h"
 
 #if GPS_USE_LATLONG
 /* currently needed to get nav_utm_zone0 */
@@ -40,8 +41,12 @@ struct GpsSkytraq gps_skytraq;
 #define GOT_CHECKSUM  7
 #define GOT_SYNC3     8
 
+#define SKYTRAQ_FIX_NONE    0x00
+#define SKYTRAQ_FIX_2D      0x01
+#define SKYTRAQ_FIX_3D      0x02
+#define SKYTRAQ_FIX_3D_DGPS 0x03
+
 //#include "my_debug_servo.h"
-#include "led.h"
 
 void gps_impl_init(void) {
 
@@ -72,9 +77,20 @@ void gps_skytraq_read_message(void) {
     //   sacc;
     //     gps.pdop       = SKYTRAQ_NAVIGATION_DATA_PDOP(gps_skytraq.msg_buf);
     gps.num_sv      = SKYTRAQ_NAVIGATION_DATA_NumSV(gps_skytraq.msg_buf);
-    gps.fix         = SKYTRAQ_NAVIGATION_DATA_FixMode(gps_skytraq.msg_buf);
     gps.tow         = SKYTRAQ_NAVIGATION_DATA_TOW(gps_skytraq.msg_buf)/10;
 
+    switch (SKYTRAQ_NAVIGATION_DATA_FixMode(gps_skytraq.msg_buf)) {
+    case SKYTRAQ_FIX_3D_DGPS:
+    case SKYTRAQ_FIX_3D:
+      gps.fix = GPS_FIX_3D;
+      break;
+    case SKYTRAQ_FIX_2D:
+      gps.fix = GPS_FIX_2D;
+      break;
+    default:
+      gps.fix = GPS_FIX_NONE;
+    }
+
 #if GPS_USE_LATLONG
     /* Computes from (lat, long) in the referenced UTM zone */
     struct LlaCoor_f lla_f;

sw/airborne/subsystems/gps/gps_skytraq.h

@@ -24,13 +24,6 @@
 
 #include "mcu_periph/uart.h"
 
-
-#define GPS_FIX_NONE    0x00
-#define GPS_FIX_2D      0x01
-#define GPS_FIX_3D      0x02
-#define GPS_FIX_3D_DGPS 0x03
-
-
 #define SKYTRAQ_SYNC1 0xA0
 #define SKYTRAQ_SYNC2 0xA1
 

sw/airborne/subsystems/gps/gps_ubx.h

@@ -38,10 +38,6 @@
 
 #define GPS_NB_CHANNELS 16
 
-#define GPS_FIX_NONE 0x00
-#define GPS_FIX_2D   0x02
-#define GPS_FIX_3D   0x03
-
 #define GPS_UBX_MAX_PAYLOAD 255
 struct GpsUbx {
   bool_t msg_available;